This work developed models to identify optimal spatial distribution of emergency evacuation centers(EECs)such as schools,colleges,hospitals,and fire stations to improve flood emergency planning in the Sylhet region of...This work developed models to identify optimal spatial distribution of emergency evacuation centers(EECs)such as schools,colleges,hospitals,and fire stations to improve flood emergency planning in the Sylhet region of northeastern Bangladesh.The use of location-allocation models(LAMs)for evacuation in regard to flood victims is essential to minimize disaster risk.In the first step,flood susceptibility maps were developed using machine learning models(MLMs),including:Levenberg-Marquardt back propagation(LM-BP)neural network and decision trees(DT)and multi-criteria decision making(MCDM)method.Performance of the MLMs and MCDM techniques were assessed considering the area under the receiver operating characteristic(AUROC)curve.Mathematical approaches in a geographic information system(GIS)for four well-known LAM problems affecting emergency rescue time are proposed:maximal covering location problem(MCLP),the maximize attendance(MA),p-median problem(PMP),and the location set covering problem(LSCP).The results showed that existing EECs were not optimally distributed,and that some areas were not adequately served by EECs(i.e.,not all demand points could be reached within a 60-min travel time).We concluded that the proposed models can be used to improve planning of the distribution of EECs,and that application of the models could contribute to reducing human casualties,property losses,and improve emergency operation.展开更多
A simulation study on occupant evacuation in high-speed railway stations(HSRSs) was presented in China.Pathfinder was employed as the simulation platform and a typical HSRS in a medium-sized city in China was selected...A simulation study on occupant evacuation in high-speed railway stations(HSRSs) was presented in China.Pathfinder was employed as the simulation platform and a typical HSRS in a medium-sized city in China was selected for model development.The model was carefully calibrated and validated by comparing simulation results with field data.Evacuation efficiency could be improved with the increased door width while such effect decreased when the door width reached a marginal value.And the marginal value varied under different occupant densities.An exponential function between evacuation time and occupant density was fitted,indicating that occupant density significantly affected evacuation efficiency.A set of different evacuation strategies were compared,in terms of their evacuation performances.It was found that a balanced door usage would result in more efficient evacuations in HSRSs.Thus occupant flows were suggested to be managed considering door capacity.To avoid potential safety issues caused by such strategy(e.g.,more occupants could be evacuated from a smaller area designed with higher door capacity),occupants needed to enhance their awareness of following evacuation guidance instead of panic escape in emergencies.Moreover,such safety issues could also be avoided during the design phase that the evacuation capacity was designed to be proportional to the room capacity for each floor.The results of this study provide valuable information for HSRS design and flow management in China.展开更多
Because of its large capacity,high efficiency and energy savings,the subway has gradually become the primary mode of transportation for citizens.A high density of passengers exists within a large-passenger-flow subway...Because of its large capacity,high efficiency and energy savings,the subway has gradually become the primary mode of transportation for citizens.A high density of passengers exists within a large-passenger-flow subway station,and the number of casualties and injuries during a fire emergency is substantial.In this paper,Pathfinder software and on-site measured data of Pingzhou station in Shenzhen(China)were utilized to simulate a fire emergency evacuation in a large-passenger-flow subway station.The Required Safe Egress Time(RSET),number of passengers and flow rates of stairs and escalators were analysed for three fire evacuation scenarios:train fire,platform fire and hall fire.The evacuation time of the train fire,which was 1173 s,was the longest,and 3621 occupants needed to evacuate when the train was fully loaded.Occupants could not complete the evacuation within 6 mins in all three fire evacuation scenarios,which does not meet the current standard requirements and codes.By changing the number of passengers and the number of stairs for evacuation,the flow rate capacity and evacuation time were explored,which have reference values for safety management and emergency evacuation plan optimization during peak hours of subway operation.展开更多
Increasing urban pluvial flood disasters due to climate change and rapid urbanisation have been a great challenge worldwide.Timely and effective emergency evacuation is important for reducing casualties and losses.Thi...Increasing urban pluvial flood disasters due to climate change and rapid urbanisation have been a great challenge worldwide.Timely and effective emergency evacuation is important for reducing casualties and losses.This has become a bottleneck for emergency management.This study aimed to develop a commonly used Agent-Based Mode(ABM)for pluvial flood emergency evacuation at the city scale,exploring the cascading impacts of pluvial flooding on human behaviour and emergency evacuation.The July 2021 pluvial flood event in Zhengzhou,Henan Province,claiming 380 lives and 40.9 billion yuan in direct losses,was selected as this case study.A raster-based hydraulic model(ECNU Flood-Urban)was used to predict flood inundation(extent and depth)during an event in Zhengzhou’s centre.Moreover,a comparative analysis of emergency evacuations was conducted before and after the pluvial flood event.The results showed that crowd behaviour plays an important role in an emergency evacuation,and extensive flooding leads to an 11-83%reduction in the number of evacuees.This study highlights the importance of risk education and contingency plans in emergency response.The ABM model developed in this study is proven to be effective and practical and will provide support for decision-making in urban flood emergency management.展开更多
As one of the most common social relationships among college students,the dormitory interpersonal relationship has important effects on students'psychology and behavior.For quantitative analysis of the dormitory i...As one of the most common social relationships among college students,the dormitory interpersonal relationship has important effects on students'psychology and behavior.For quantitative analysis of the dormitory interpersonal influence on college students'emergency evacuation behavior,an evacuation simulation experiment of college students carried out and coupling questionnaire survey,measurement and social force model of society to visualize the normal dormitory interpersonal relationship and emergency evacuation following relationship of college students,then simulation experiment is used to explore the impact of different types of dormitory relationship structure on emergency evacuation.The results show that dormitory interpersonal relationship is an important component of college students'interpersonal network and has an important impact on emergency evacuation behavior.The close and united dormitory relationship has a good promotion effect on the emergency evacuation efficiency.When the emergency occurs,the dormitory interpersonal relationship of college students will partly transform into the leader-following behavior relationship,and the evacuation efficiency will decrease.The influence of dormitory interpersonal relationship on evacuation behavior is related to gender and grade which is higher for female students than male students,and is higher for junior students than senior students.展开更多
Multimodal transportation hubs serve as transfer points with the function of collecting,transferring,and distributing passengers and play a significant role in the entire multimodal transportation network.In an emerge...Multimodal transportation hubs serve as transfer points with the function of collecting,transferring,and distributing passengers and play a significant role in the entire multimodal transportation network.In an emergency,the development of an effective and efficient emergency evacuation strategy to evacuate passengers from multimodal transportation hubs is very important.This paper aims to conduct a comprehensive review on passenger emergency evacuations from multimodal transportation hubs,summarize the achievements,identify gaps in existing literature,thus to lay a solid foundation for future studies.This paper first reviewed studies on evacuee behavior characteristics in emergency evacuations,including pedestrian characteristics,pedestrian behavior characteristics,and pedestrian flow characteristics.Then evacuation models,including pedestrian evacuation models and multimodal transportation evacuation models,were investigated.In addition,a retrospective analysis was carried out for evacuation simulation.It is found that while many studies have been conducted on passenger emergency evacuations from multimodal transportation hubs,most of them focus more on evacuating pedestrians from inside to outside of hub buildings;the studies on evacuation at multimodal transfer points are limited.It is also found that most existing studies tried to establish a general model to handle all types of emergency evacuations;in fact,a model would be more efficient if it is just established for a specific emergency and for a specific type of hubs.Also,existing data collection methods may collect biased data;new data collection methods need to be explored to increase the accuracy of data collection.Future study directions include the evacuation at multimodal transfer points,interactive effects between individual pedestrian behavior and pedestrian group behavior,more specific types of emergency evacuations,more accurate data collection methods,and tradeoffs between cost and benefit in emergency evacuations.展开更多
In recent years,as a disaster,terrorist attacks have occurred throughout the world.However,emergency evac-uation behaviors during these incidents were not clear,and the traditional emergency plans were not suitable fo...In recent years,as a disaster,terrorist attacks have occurred throughout the world.However,emergency evac-uation behaviors during these incidents were not clear,and the traditional emergency plans were not suitable for such incidents.In this paper,evacuation behaviors under armed assault attack in a classroom were studied based on evacuation experiments.A total of 103 participants took part in three experiments.In each experiment,the attacker’s attacking route was set differently to study the impact of the attacking route on evacuation be-haviors.Pre-evacuation delay,panic of the evacuees,exit choices,evacuation time,and evacuees’trajectories in the experiments were all analyzed.The results of the experiments showed that when a terrorist attack occurs,there is a long delay before evacuation,and most of the evacuees were in the state of“observation”before they moved.When one of the participants started to evacuate or shout,other participants would begin to recognize the danger and escape quickly.These three experiments showed that the route of the attacker had a significant impact on the routes and exit choices of the evacuees.Rather than searching for the nearest exit,the primary purpose of evacuees was to keep a safe distance from the attacker.The average speed of the evacuees in these three experiments was 1.07 m/s,0.81 m/s,and 0.84 m/s,respectively.The density distribution during the crowd evacuation process was uneven,with the highest density occurring at the area from the seats to the aisles.The research can provide data support for the design of emergency plans and the computer simulation of the armed assault attack.展开更多
The subway is the primary travel tool for urban residents in China. Due to the complex structure of the subway and high personnel density in rush hours, subway evacuation capacity is critical. The subway evacuation mo...The subway is the primary travel tool for urban residents in China. Due to the complex structure of the subway and high personnel density in rush hours, subway evacuation capacity is critical. The subway evacuation model is explored in this work by combining the improved social force model with the view radius using the Vicsek model. The pedestrians are divided into two categories based on different force models. The first category is sensitive pedestrians who have normal responses to emergency signs. The second category is insensitive pedestrians. By simulating different proportions of the insensitive pedestrians, we find that the escape time is directly proportional to the number of insensitive pedestrians and inversely proportional to the view radius. However, when the view radius is large enough, the escape time does not change significantly, and the evacuation of people in a small view radius environment tends to be integrated. With the improvement of view radius conditions, the escape time changes more obviously with the proportion of insensitive pedestrians. A new emergency sign layout is proposed, and the simulations show that the proposed layout can effectively reduce the escape time in a small view radius environment. However, the evacuation effect of the new escape sign layout on the large view radius environment is not apparent. In this case, the exit setting emerges as an additional factor affecting the escape time.展开更多
One of critical challenges in the development of pedestrian models is the lack of relevant data under emergency conditions.In this paper,we reveal several behavior characteristics of passenger emergency evacuation fro...One of critical challenges in the development of pedestrian models is the lack of relevant data under emergency conditions.In this paper,we reveal several behavior characteristics of passenger emergency evacuation from a burning bus carriage,by observing and analyzing a video recording,attempting to close the gap between practical observation and theoretical modeling.The analysis results show that there are considerable differences between real emergency evacuation and experimental normal evacuation with respect to the cumulative flows,flows,and time gap distributions.Additionally,the behavior of falling-down,which contributes to the formation of movable obstacles,interrupts the continuity of the evacuation process.Then,we incorporate these behavioral characteristics into a microscopic pedestrian model with a fine lattice space representation.The simulation results indicate that the escape is slowed down by the falling behavior,as well as by the luggage-carrying behavior.展开更多
The efficient evacuation of people from dangerous areas is a key objective of emergency management.However,many emergencies give little to no advanced warning,leading to spontaneous evacuation with no time for plannin...The efficient evacuation of people from dangerous areas is a key objective of emergency management.However,many emergencies give little to no advanced warning,leading to spontaneous evacuation with no time for planning or management.For large emergencies,destinations become less certain,with traffic demand imbalanced and concentrated on a few oversaturated routes familiar to evacuees.Ultimately,this leads to rapid congestion and delay on some routes,while others remain barely used,extending clearance times with an accumulating population at risk.In this study we address these issues through incorporating spatio-temporal traffic resilience dynamics into a destination choice model utilizing the available capacity of the overall network.We validate our model through a post-concert egress event.The results suggest that our method can reduce total egress times and average travel time by 20%-43%over the no-guidance condition.Our method can be used to estimate and quantify emergency conditions to optimally guide destinations and routing choice for evacuees and/or autonomously moving vehicles during evacuations.展开更多
With the fast development of consumer-level RGB-D cameras, real-world indoor three-dimensional(3 D) scene modeling and robotic applications are gaining more attention. However, indoor 3 D scene modeling is still chall...With the fast development of consumer-level RGB-D cameras, real-world indoor three-dimensional(3 D) scene modeling and robotic applications are gaining more attention. However, indoor 3 D scene modeling is still challenging because the structure of interior objects may be complex and the RGB-D data acquired by consumer-level sensors may have poor quality. There is a lot of research in this area. In this survey, we provide an overview of recent advances in indoor scene modeling methods, public indoor datasets and libraries which can facilitate experiments and evaluations, and some typical applications using RGB-D devices including indoor localization and emergency evacuation.展开更多
基金funded by the National Natural Science Foundation of China(Grant Nos.41861134008 and 41671112)the 135 Strategic Program of the Institute of Mountain Hazards and Environment(IMHE),Chinese Academy of Sciences(CAS)(Grant No.SDS-135-1705)。
文摘This work developed models to identify optimal spatial distribution of emergency evacuation centers(EECs)such as schools,colleges,hospitals,and fire stations to improve flood emergency planning in the Sylhet region of northeastern Bangladesh.The use of location-allocation models(LAMs)for evacuation in regard to flood victims is essential to minimize disaster risk.In the first step,flood susceptibility maps were developed using machine learning models(MLMs),including:Levenberg-Marquardt back propagation(LM-BP)neural network and decision trees(DT)and multi-criteria decision making(MCDM)method.Performance of the MLMs and MCDM techniques were assessed considering the area under the receiver operating characteristic(AUROC)curve.Mathematical approaches in a geographic information system(GIS)for four well-known LAM problems affecting emergency rescue time are proposed:maximal covering location problem(MCLP),the maximize attendance(MA),p-median problem(PMP),and the location set covering problem(LSCP).The results showed that existing EECs were not optimally distributed,and that some areas were not adequately served by EECs(i.e.,not all demand points could be reached within a 60-min travel time).We concluded that the proposed models can be used to improve planning of the distribution of EECs,and that application of the models could contribute to reducing human casualties,property losses,and improve emergency operation.
基金Study of Emergency Management Technology of Integrated Passenger Transportation Hub in Jiangsu Province,China(No.2012R06)National Natural Science Foundation of China(No.51608114)Shanghai Pujiang Program,China(No.15PJC093)
文摘A simulation study on occupant evacuation in high-speed railway stations(HSRSs) was presented in China.Pathfinder was employed as the simulation platform and a typical HSRS in a medium-sized city in China was selected for model development.The model was carefully calibrated and validated by comparing simulation results with field data.Evacuation efficiency could be improved with the increased door width while such effect decreased when the door width reached a marginal value.And the marginal value varied under different occupant densities.An exponential function between evacuation time and occupant density was fitted,indicating that occupant density significantly affected evacuation efficiency.A set of different evacuation strategies were compared,in terms of their evacuation performances.It was found that a balanced door usage would result in more efficient evacuations in HSRSs.Thus occupant flows were suggested to be managed considering door capacity.To avoid potential safety issues caused by such strategy(e.g.,more occupants could be evacuated from a smaller area designed with higher door capacity),occupants needed to enhance their awareness of following evacuation guidance instead of panic escape in emergencies.Moreover,such safety issues could also be avoided during the design phase that the evacuation capacity was designed to be proportional to the room capacity for each floor.The results of this study provide valuable information for HSRS design and flow management in China.
基金This study has been sponsored by the Fire Bureau of the Ministry of Public Security(Grant No.2016XFGG05)the Sichuan Mineral Resources Research Center(Grant No.SCKCZY2022-YB010)the Key Laboratory of Flight Techniques and Flight Safety,CAAC(Grant No.FZ2021KF05).
文摘Because of its large capacity,high efficiency and energy savings,the subway has gradually become the primary mode of transportation for citizens.A high density of passengers exists within a large-passenger-flow subway station,and the number of casualties and injuries during a fire emergency is substantial.In this paper,Pathfinder software and on-site measured data of Pingzhou station in Shenzhen(China)were utilized to simulate a fire emergency evacuation in a large-passenger-flow subway station.The Required Safe Egress Time(RSET),number of passengers and flow rates of stairs and escalators were analysed for three fire evacuation scenarios:train fire,platform fire and hall fire.The evacuation time of the train fire,which was 1173 s,was the longest,and 3621 occupants needed to evacuate when the train was fully loaded.Occupants could not complete the evacuation within 6 mins in all three fire evacuation scenarios,which does not meet the current standard requirements and codes.By changing the number of passengers and the number of stairs for evacuation,the flow rate capacity and evacuation time were explored,which have reference values for safety management and emergency evacuation plan optimization during peak hours of subway operation.
基金supported by the National Natural Science Foundation of China(Grant No.41871164)the National Key Research and Development Program of China(Grant No.2018YFC1508803)+2 种基金the Major Program of National Social Science Fund of China(Grant No.18ZDA105)the Shanghai Philosophy and Social Science Planning Program(Grant No.2021XRM005)the Fundamental Research Funds for the Central Universities(Grant No.2022ECNU-XWK-XK001)。
文摘Increasing urban pluvial flood disasters due to climate change and rapid urbanisation have been a great challenge worldwide.Timely and effective emergency evacuation is important for reducing casualties and losses.This has become a bottleneck for emergency management.This study aimed to develop a commonly used Agent-Based Mode(ABM)for pluvial flood emergency evacuation at the city scale,exploring the cascading impacts of pluvial flooding on human behaviour and emergency evacuation.The July 2021 pluvial flood event in Zhengzhou,Henan Province,claiming 380 lives and 40.9 billion yuan in direct losses,was selected as this case study.A raster-based hydraulic model(ECNU Flood-Urban)was used to predict flood inundation(extent and depth)during an event in Zhengzhou’s centre.Moreover,a comparative analysis of emergency evacuations was conducted before and after the pluvial flood event.The results showed that crowd behaviour plays an important role in an emergency evacuation,and extensive flooding leads to an 11-83%reduction in the number of evacuees.This study highlights the importance of risk education and contingency plans in emergency response.The ABM model developed in this study is proven to be effective and practical and will provide support for decision-making in urban flood emergency management.
基金Supported by Tianjin Social Science Project (TJGL21-019)。
文摘As one of the most common social relationships among college students,the dormitory interpersonal relationship has important effects on students'psychology and behavior.For quantitative analysis of the dormitory interpersonal influence on college students'emergency evacuation behavior,an evacuation simulation experiment of college students carried out and coupling questionnaire survey,measurement and social force model of society to visualize the normal dormitory interpersonal relationship and emergency evacuation following relationship of college students,then simulation experiment is used to explore the impact of different types of dormitory relationship structure on emergency evacuation.The results show that dormitory interpersonal relationship is an important component of college students'interpersonal network and has an important impact on emergency evacuation behavior.The close and united dormitory relationship has a good promotion effect on the emergency evacuation efficiency.When the emergency occurs,the dormitory interpersonal relationship of college students will partly transform into the leader-following behavior relationship,and the evacuation efficiency will decrease.The influence of dormitory interpersonal relationship on evacuation behavior is related to gender and grade which is higher for female students than male students,and is higher for junior students than senior students.
基金supported by The National Key Research and Development Program of China(No.2018YFB1601200)
文摘Multimodal transportation hubs serve as transfer points with the function of collecting,transferring,and distributing passengers and play a significant role in the entire multimodal transportation network.In an emergency,the development of an effective and efficient emergency evacuation strategy to evacuate passengers from multimodal transportation hubs is very important.This paper aims to conduct a comprehensive review on passenger emergency evacuations from multimodal transportation hubs,summarize the achievements,identify gaps in existing literature,thus to lay a solid foundation for future studies.This paper first reviewed studies on evacuee behavior characteristics in emergency evacuations,including pedestrian characteristics,pedestrian behavior characteristics,and pedestrian flow characteristics.Then evacuation models,including pedestrian evacuation models and multimodal transportation evacuation models,were investigated.In addition,a retrospective analysis was carried out for evacuation simulation.It is found that while many studies have been conducted on passenger emergency evacuations from multimodal transportation hubs,most of them focus more on evacuating pedestrians from inside to outside of hub buildings;the studies on evacuation at multimodal transfer points are limited.It is also found that most existing studies tried to establish a general model to handle all types of emergency evacuations;in fact,a model would be more efficient if it is just established for a specific emergency and for a specific type of hubs.Also,existing data collection methods may collect biased data;new data collection methods need to be explored to increase the accuracy of data collection.Future study directions include the evacuation at multimodal transfer points,interactive effects between individual pedestrian behavior and pedestrian group behavior,more specific types of emergency evacuations,more accurate data collection methods,and tradeoffs between cost and benefit in emergency evacuations.
文摘In recent years,as a disaster,terrorist attacks have occurred throughout the world.However,emergency evac-uation behaviors during these incidents were not clear,and the traditional emergency plans were not suitable for such incidents.In this paper,evacuation behaviors under armed assault attack in a classroom were studied based on evacuation experiments.A total of 103 participants took part in three experiments.In each experiment,the attacker’s attacking route was set differently to study the impact of the attacking route on evacuation be-haviors.Pre-evacuation delay,panic of the evacuees,exit choices,evacuation time,and evacuees’trajectories in the experiments were all analyzed.The results of the experiments showed that when a terrorist attack occurs,there is a long delay before evacuation,and most of the evacuees were in the state of“observation”before they moved.When one of the participants started to evacuate or shout,other participants would begin to recognize the danger and escape quickly.These three experiments showed that the route of the attacker had a significant impact on the routes and exit choices of the evacuees.Rather than searching for the nearest exit,the primary purpose of evacuees was to keep a safe distance from the attacker.The average speed of the evacuees in these three experiments was 1.07 m/s,0.81 m/s,and 0.84 m/s,respectively.The density distribution during the crowd evacuation process was uneven,with the highest density occurring at the area from the seats to the aisles.The research can provide data support for the design of emergency plans and the computer simulation of the armed assault attack.
基金supported by the National Natural Science Foundation of China (Grant Nos. 51874183 and 51874182)the National Key Research and Development Program of China (Grant No. 2018YFC0809300)。
文摘The subway is the primary travel tool for urban residents in China. Due to the complex structure of the subway and high personnel density in rush hours, subway evacuation capacity is critical. The subway evacuation model is explored in this work by combining the improved social force model with the view radius using the Vicsek model. The pedestrians are divided into two categories based on different force models. The first category is sensitive pedestrians who have normal responses to emergency signs. The second category is insensitive pedestrians. By simulating different proportions of the insensitive pedestrians, we find that the escape time is directly proportional to the number of insensitive pedestrians and inversely proportional to the view radius. However, when the view radius is large enough, the escape time does not change significantly, and the evacuation of people in a small view radius environment tends to be integrated. With the improvement of view radius conditions, the escape time changes more obviously with the proportion of insensitive pedestrians. A new emergency sign layout is proposed, and the simulations show that the proposed layout can effectively reduce the escape time in a small view radius environment. However, the evacuation effect of the new escape sign layout on the large view radius environment is not apparent. In this case, the exit setting emerges as an additional factor affecting the escape time.
基金the National Natural Science Foundation of China(72171007,71890972/71890970,72021001).
文摘One of critical challenges in the development of pedestrian models is the lack of relevant data under emergency conditions.In this paper,we reveal several behavior characteristics of passenger emergency evacuation from a burning bus carriage,by observing and analyzing a video recording,attempting to close the gap between practical observation and theoretical modeling.The analysis results show that there are considerable differences between real emergency evacuation and experimental normal evacuation with respect to the cumulative flows,flows,and time gap distributions.Additionally,the behavior of falling-down,which contributes to the formation of movable obstacles,interrupts the continuity of the evacuation process.Then,we incorporate these behavioral characteristics into a microscopic pedestrian model with a fine lattice space representation.The simulation results indicate that the escape is slowed down by the falling behavior,as well as by the luggage-carrying behavior.
基金support of National Natural Science Foundation of China(Grant#.61773035,71822101,71771009,71890973/71890970)
文摘The efficient evacuation of people from dangerous areas is a key objective of emergency management.However,many emergencies give little to no advanced warning,leading to spontaneous evacuation with no time for planning or management.For large emergencies,destinations become less certain,with traffic demand imbalanced and concentrated on a few oversaturated routes familiar to evacuees.Ultimately,this leads to rapid congestion and delay on some routes,while others remain barely used,extending clearance times with an accumulating population at risk.In this study we address these issues through incorporating spatio-temporal traffic resilience dynamics into a destination choice model utilizing the available capacity of the overall network.We validate our model through a post-concert egress event.The results suggest that our method can reduce total egress times and average travel time by 20%-43%over the no-guidance condition.Our method can be used to estimate and quantify emergency conditions to optimally guide destinations and routing choice for evacuees and/or autonomously moving vehicles during evacuations.
基金Project supported by the National Natural Science Foundation of China (Nos. 71901147, 41801392, 41901329, 41971354, and 41971341)the Research Program of Shenzhen S&T Innovation Committee,China (No. JCYJ20180305125131482)+5 种基金the Open Fund of Key Laboratory of Urban Land Resources Monitoring and Simulation,MNR,China (Nos. KF-2019-04-010, KF-2019-04-014, and KF-2018-03-066)the Natural Science Foundation of Guangdong Province,China (Nos. 2019A1515010748 and 2019A1515011872)the Foundation of High-Level University Phase II,China (No. 000002110335)the Foundation of Shenzhen University for New Researchers,China (No. 2019056)the Innovation Team Program of Department Education of Guangdong Province,China (No. 2017KCXTD028)the Guangdong Science and Technology Strategic Innovation Fund (the Guangdong–Hong Kong–Macao Joint Laboratory Program)(No. 2020B1212030009)。
文摘With the fast development of consumer-level RGB-D cameras, real-world indoor three-dimensional(3 D) scene modeling and robotic applications are gaining more attention. However, indoor 3 D scene modeling is still challenging because the structure of interior objects may be complex and the RGB-D data acquired by consumer-level sensors may have poor quality. There is a lot of research in this area. In this survey, we provide an overview of recent advances in indoor scene modeling methods, public indoor datasets and libraries which can facilitate experiments and evaluations, and some typical applications using RGB-D devices including indoor localization and emergency evacuation.
